/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2018 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"

/* USER CODE BEGIN Includes */
#include "mpu9250.h"
#include "io.h"
#include "stdio.h"
#include "timer.h"
#include "math.h"
#include "pid.h"

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
int flag_1ms=0;
int flag_10ms=0;
int count_10ms;
int flag_100ms=0;
int count_100ms;
int flag_1s=0;
int count_1s=0;

float real_yaw = 0;
float dest_yaw = 0;
float gz=0;
float gz_offset=0;
float gz_buf[11]={0};

int st_value=1500;
int st_offset=0;
int st_output=1500;
int st_max = 1500;
int st_min = 1500;

struct PID pid;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
int fputc(int ch, FILE* stream)
{
    HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,10);
    return ch;
}
/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void)
{
	flag_1ms=1;
	count_10ms++;
	if(count_10ms>=10)
	{
		count_10ms = 0;
		flag_10ms = 1;
	}
	
	count_100ms++;
	if(count_100ms>=100)
	{
		count_100ms = 0;
		flag_100ms = 1;
	}
	
	count_1s++;
	if(count_1s >= 1000)
	{
		count_1s = 0;
		flag_1s = 1;
	}
}

char uart_buf[100];
int uart_len=0;
void USART1_IRQHandler(void)
{
	char b;
	int temp;
	
	if(USART1->SR & UART_FLAG_RXNE)
	{
		b = USART1->DR;
		uart_buf[uart_len] = b;
		uart_len++;
		if(b == '\n')
		{			
			if(uart_buf[0]=='p') 
			{
				temp = (uart_buf[1]-'0')*1000 + (uart_buf[2]-'0')*100 + (uart_buf[3]-'0')*10 + (uart_buf[4]-'0');					
				pid.Kp = ((float)temp)/100;
			}
			if(uart_buf[5]=='i') {
				temp = (uart_buf[6]-'0')*1000 + (uart_buf[7]-'0')*100 + (uart_buf[8]-'0')*10 + (uart_buf[9]-'0');
				pid.Ki = ((float)temp)/100;
			}
			if(uart_buf[10]=='d') {
				temp = (uart_buf[11]-'0')*1000 + (uart_buf[12]-'0')*100 + (uart_buf[13]-'0')*10 + (uart_buf[14]-'0');
				pid.Kd = ((float)temp)/100;
			}			
			
			uart_len = 0;
		}	
	}
}

void update_gz(void)
{
	gz = 0;
	gz_buf[10] = mpu9250_read_gyro() - gz_offset;
	for(int i=0;i<10;i++)
	{
		gz_buf[i] = gz_buf[i+1];
		gz += gz_buf[i];		
	}
	
	gz /=10;
}

/* USER CODE END 0 */

int main(void)
{

  /* USER CODE BEGIN 1 */
	int count=0;
	int upload_index=0;
  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();

  /* USER CODE BEGIN 2 */
	mpu9250_init();
	timer_init();
	pid_init(&pid, 0.5,0.0,0.01);
	
	printf("baiyang\r\n");
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  HAL_Delay(500);
  while(1)
  {
	  HAL_Delay(10);
	  
	  gz_offset += mpu9250_read_gyro();
	  
	  st_offset += get_capture() - 1500;
	  
	  count++;
	  if(count>=100) {
		  break;
	  }
  }
  gz_offset = gz_offset/100;
  st_offset = st_offset/100;
  
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
		if(flag_10ms)
		{
			flag_10ms = 0;			
			
			/* get real yaw */
			real_yaw += gz * 0.01f;			
			if(real_yaw < -180){
				real_yaw += 360;
			} else if(real_yaw >180){
				real_yaw -=360;
			}			
			
			/* get input */
			if(st_min>get_capture()) st_min = get_capture();
			if(st_max<get_capture()) st_max = get_capture();
			st_value = get_capture() - st_offset;			
			
			/* pid ctrl */
			if( ((st_value>=1500)&&((st_value-1500)<10)) || ((st_value<1500)&&((1500-st_value)<10)) )
			{				
				/* gyro ctrl mode */
				float out = pid_update(&pid, dest_yaw, real_yaw);					
				st_output = 1500 + st_offset - (int)out;
			}
			else
			{
				/* manual ctrl mode */
				dest_yaw = real_yaw = 0;
				st_output = st_value + st_offset;
				pid.integral = 0;
				pid.err_last = 0;
				pid.err_next = 0;
			}
				
			
			/* set output */
			if(st_output>st_max) st_output = st_max;
			if(st_output<st_min) st_output = st_min;
			pwm_output(st_output);						
		}
		
		if(flag_1s)
		{
			flag_1s = 0;
			switch(upload_index)
			{
				case 1:
					printf("p%02.2f\r\n",pid.Kp);	
					upload_index = 2;
					break;
				case 2:
					printf("i%02.2f\r\n",pid.Ki);	
					upload_index = 3;
					break;
				default:
					printf("d%02.2f\r\n",pid.Kd);	
					upload_index = 1;
					break;
			}
		}
		
		update_gz();
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

  huart1.Instance = USART1;
  huart1.Init.BaudRate = 9600;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
	__HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);
  HAL_NVIC_EnableIRQ(USART1_IRQn);
}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);

  /*Configure GPIO pin : PC13 */
  GPIO_InitStruct.Pin = GPIO_PIN_13;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void _Error_Handler(char * file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  while(1) 
  {
  }
  /* USER CODE END Error_Handler_Debug */ 
}

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */

}

#endif

/**
  * @}
  */ 

/**
  * @}
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
